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提出一种具有3个驱动自由度的全方位行走独轮车机构,并对其动态行为及平衡控制策略进行了初步研究。考虑车轮的纯滚动和非完整约束条件,采用Kane方法建立了系统的力学模型;以此为基础,通过反馈线性化车架的3个欠驱动欧拉角,并选择全部6个自由度为输出,设计平衡运动控制器;借助MATLAB/Simulink模块,对系统平衡运动进行仿真控制,所得结果表明,通过合理选择控制参数,系统可以在短时间内实现车体平衡和航向稳定。
A 3-DOF omni-directional wheelbarrow mechanism is proposed, and its dynamic behavior and balance control strategy are preliminarily studied. Considering the pure rolling and nonholonomic constraints of the wheel, the mechanical model of the system is established by Kane method. Based on this, the three underactuated Euler angles of the linearized frame are fed back and all six degrees of freedom are selected as the output , And design a balanced motion controller. With MATLAB / Simulink module, the equilibrium motion of the system is simulated and controlled. The results show that the system can realize the balance of the vehicle body and the heading stability in a short time by reasonably selecting the control parameters.